| 摘要 |
PROBLEM TO BE SOLVED: To provide a controller with which transition from position control to pressure control is smoothly performed in a machine for performing press working and bending work by driving a die with a servomotor. SOLUTION: A position/speed detecting element is attached to the servomotor for driving the die. A pressure sensor for detecting pressure applied to a material to be worked is provided. A smaller value between a speed command which is obtained by position feedback control (10, 11) and a speed command which is obtained by pressure feed back control (16) is taken as the output of a comparator 17. The servomotor is driven by performing the feedback control of speed by that speed command. In the state where the material to be worked is not pressurized with the die, the position control is performed because pressure deviation is large, the speed command by pressure control is large and the speed command by the position control is small. When the material to be worked is pressurized, position deviation is increased and the pressure deviation is decreased, the speed command by pressure control is adopted and pressure control is performed. the transition from the position control to the pressure control is performed continuously and smoothly. COPYRIGHT: (C)2006,JPO&NCIPI
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